bug fixed

src/subscriber_gnss_receiver.cpp

@@ -18,15 +18,15 @@ SubscriberGnssReceiver::SubscriberGnssReceiver(const std::string& _unique_name,
     publish_fix_           = _server.getParam<bool>(prefix_ + "/publish_fix/enabled");
     if (publish_fix_)
     {
-        // comparation of GNSS options
-        comp_options_.push_back("000");
-        comp_options_.push_back("001");
+        // comparation of GNSS options RAIM-SBAS-IONO
+        //comp_options_.push_back("000");
+        //comp_options_.push_back("001");
         comp_options_.push_back("010");
-        comp_options_.push_back("011");
-        comp_options_.push_back("100");
-        comp_options_.push_back("101");
-        comp_options_.push_back("110");
-        comp_options_.push_back("111");
+        //comp_options_.push_back("011");
+        //comp_options_.push_back("100");
+        //comp_options_.push_back("101");
+        //comp_options_.push_back("110");
+        //comp_options_.push_back("111");
 
         // params
         pose_           = _server.getParam<bool>(prefix_ + "/publish_fix/pose_msg");
@@ -160,9 +160,11 @@ void SubscriberGnssReceiver::createCaptureAndProcess()
 
     // compute fix if publishing or not sats_available
     if (not sats_available_ or publish_fix_)
+    {
         fix = GnssUtils::computePos(receiver_->getObservations(),
                                     receiver_->getNavigation(),
                                     compute_pos_opt_);
+    }
 
     // if (last time) satellites were not available: check if they are
     if (not sats_available_)
@@ -211,42 +213,45 @@ void SubscriberGnssReceiver::publishFixComp()
     if (not ENU_defined_ and not listenTf())
         return;
 
+    GnssUtils::Options comp_pos_opt = compute_pos_opt_;
+
     for (auto comp : comp_options_)
     {
         // RAIM
         if (comp[0] == '0')
-            compute_pos_opt_.raim = 0;
+            comp_pos_opt.raim = 0;
         else
-            compute_pos_opt_.raim = 1;
+            comp_pos_opt.raim = 1;
 
         // SBAS
         if (comp[1] == '0')
         {
-            compute_pos_opt_.sateph     = 0;    //eph broadcasted
-            compute_pos_opt_.ionoopt    = 1;    //iono broadcasted
-            compute_pos_opt_.tropopt    = 1;    //trop broadcasted
-            compute_pos_opt_.sbascorr   = 0;    //sbas corrections
+            comp_pos_opt.sateph     = 0;    //eph broadcasted
+            comp_pos_opt.ionoopt    = 1;    //iono broadcasted
+            comp_pos_opt.tropopt    = 1;    //trop broadcasted
+            comp_pos_opt.sbascorr   = 0;    //sbas corrections
         }
         else
         {
-            compute_pos_opt_.sateph     = 2;    //eph sbas
-            compute_pos_opt_.ionoopt    = 2;    //iono sbas
-            compute_pos_opt_.tropopt    = 2;    //trop broadcasted
-            compute_pos_opt_.sbascorr   = 15;   //sbas corrections
+            comp_pos_opt.GAL = false;
+            comp_pos_opt.sateph     = 2;    //eph sbas
+            comp_pos_opt.ionoopt    = 0;//2;    //iono sbas
+            comp_pos_opt.tropopt    = 0;//2;    //trop broadcasted
+            comp_pos_opt.sbascorr   = 15;   //sbas corrections
         }
 
         // IONOFREE combination
         if (comp[2] == '1')
         {
-            compute_pos_opt_.ionoopt    = 3;    //iono-free combination
+            comp_pos_opt.ionoopt    = 3;    //iono-free combination
             if (comp[1] == '1')
-                compute_pos_opt_.sbascorr   = 11;   //sbas corrections without iono
+                comp_pos_opt.sbascorr   = 11;   //sbas corrections without iono
         }
 
         //std::cout << "//////////// Computing fix comp = " << comp << std::endl;
         auto fix = GnssUtils::computePos(receiver_->getObservations(),
                                          receiver_->getNavigation(),
-                                         compute_pos_opt_);
+                                         comp_pos_opt);
         WOLF_INFO_COND(comp == "010" and not fix.success, "computePos failed with msg: ", fix.msg);
 
         //std::cout << "//////////// Computed" << std::endl;